Fenix autopilot project - tiller autopilot based on Arduino

[spascual90]

Welcome to Fenix Project! A tiller autopilot based on Arduino.

First workable release is already available.
https://github.com/spascual90/Fenix

Technical documentation gathered in a Wiki:
https://emacua.fandom.com/wiki/EMacua_Wiki

Background,
I am a passionate of sail cruising. In my aim to equipe my weekender boat, I faced the need for navigation aids. Disregarding the reduction of costs that electronics have suffered, a basic navigation system is still very expensive and out of my budget.

I may understand there are many other people also interested in such a system but not able to find a complete and documented solution to be straitforward implemented.

Fortunatelly, I am skilled in project management, SW programming, physics, and not bad at electronics.

The goals of Fenix project are,
- to develop and test a prototype of open-source DIY navigation system for mini-cruisers.
- to gather individual efforts to a joint solution.
- get users to adopt the system into their own boats with minimum technical knowledge.

The current version features,
- Manual mode, auto-bearing mode, Navigation mode.
- Bluetooth to Android App
- Serial I/F to calibrate IMU, linear actuator and configure autopilot
- Serial I/F to control autopilot from any USB serial connection (laptop/ raspberry PI terminal)
- Configurable deadband and gain
- Integration to OpenCPN

I will focus now in the documentation and testing of this very first release of the autopilot.

Hope you find it useful. Any feedback is welcome!

Best regards,
spascual90

[flyingnut40]

Looks super so far.... . Following. ;-)

[spascual90]

Hi there!
As promised I've been improving the documentation of the project with the aim of ease adoption of the system.
You will find in the link below brand new Fenix Autopilot User Guide!

https://spascual90.gitbook.io/fenix-autopilot/

Still under construction, however main user cases are already described,
- Engaging the autopilot (Auto mode)
- Disengaging the autopilot (Standby mode)
- Changing course
- Dodging obstacles and back to course

Connection through USB to Laptop is completely described. This allows user to change autopilot settings and adapt to your boat or specific sea conditions.

Unfortunatelly I could not perform any sea trial due to the COVID19 situation in Spain... I just had time to install the system on my boat, some pictures in this post.


Hope you find it useful. Any feedback is welcome!

Best regards,
spascual90

[spascual90]

I post a couple of videos as demo,

https://youtu.be/i5q8hUcgmjI

https://youtu.be/MT6WP9Sg7r0

Kind regards
Sergio

[jamhass]

Integrate Gyro (MPU6050) ?

[spascual90]

Originally Posted by jamhass

Integrate Gyro (MPU6050) ?

Currently only BNO055 is integrated. This is a 9dof imu which provides magnetic Heading avoiding Arduino processor to do the calculus.
If it is also the case for mpu6050 it can also be integrated.

Regards
Sergio